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Add defines for RC15 params (16 channels total) 

minor cleanup of rc sanity check code
This commit is contained in:
tstellanova 2013-08-28 18:32:16 -07:00
parent 53813d44a0
commit b986607a75
2 changed files with 21 additions and 9 deletions
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7
src/modules/sensors/sensor_params.c
View File

@ -158,6 +158,13 @@ PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC15_MIN, 1000);
PARAM_DEFINE_FLOAT(RC15_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */

23
src/modules/sensors/sensors.cpp
View File

@ -660,7 +660,9 @@ int
Sensors::parameters_update()
{
bool rc_valid = true;
float tmpScaleFactor = 0.0f;
float tmpRevFactor = 0.0f;
/* rc values */
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
@ -670,18 +672,21 @@ Sensors::parameters_update()
param_get(_parameter_handles.rev[i], &(_parameters.rev[i]));
param_get(_parameter_handles.dz[i], &(_parameters.dz[i]));
_parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
tmpScaleFactor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]);
tmpRevFactor = tmpScaleFactor * _parameters.rev[i];
/* handle blowup in the scaling factor calculation */
if (!isfinite(_parameters.scaling_factor[i]) ||
_parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
_parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, _parameters.scaling_factor[i], (int)(_parameters.rev[i]));
if (!isfinite(tmpScaleFactor) ||
(tmpRevFactor < 0.000001f) ||
(tmpRevFactor > 0.2f) ) {
warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
/* scaling factors do not make sense, lock them down */
_parameters.scaling_factor[i] = 0;
_parameters.scaling_factor[i] = 0.0f;
rc_valid = false;
}
else {
_parameters.scaling_factor[i] = tmpScaleFactor;
}
}
/* handle wrong values */